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<a href="#define-members">宏定义</a> &#124;
<a href="#func-members">函数</a>  </div>
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<p>系统PLC逻辑  
<a href="#details">更多...</a></p>
<div class="textblock"><code>#include &quot;plc_struct_define.h&quot;</code><br />
</div>
<p><a href="plc__main__logic__interface_8h_source.html">浏览源代码.</a></p>
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宏定义</h2></td></tr>
<tr class="memitem:a8effe85338ce65027768379813f2d282"><td class="memItemLeft" align="right" valign="top"><a id="a8effe85338ce65027768379813f2d282"></a>
#define&#160;</td><td class="memItemRight" valign="bottom"><b>PlcMainLogicApi</b>&#160;&#160;&#160;extern &quot;C&quot; __declspec(dllimport)</td></tr>
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函数</h2></td></tr>
<tr class="memitem:a2508c226e9efd400ce9b28e9a3bf0d9b"><td class="memItemLeft" align="right" valign="top">PlcMainLogicApi int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="plc__main__logic__interface_8h.html#a2508c226e9efd400ce9b28e9a3bf0d9b">CPlcControl::PlcMainLogic</a> ()</td></tr>
<tr class="memdesc:a2508c226e9efd400ce9b28e9a3bf0d9b"><td class="mdescLeft">&#160;</td><td class="mdescRight">系统PLC主逻辑循环执行接口。系统级函数接口  <a href="plc__main__logic__interface_8h.html#a2508c226e9efd400ce9b28e9a3bf0d9b">更多...</a><br /></td></tr>
<tr class="separator:a2508c226e9efd400ce9b28e9a3bf0d9b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8e4f486a474c32ab3ebe07d64985c276"><td class="memItemLeft" align="right" valign="top">PlcMainLogicApi void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="plc__main__logic__interface_8h.html#a8e4f486a474c32ab3ebe07d64985c276">CPlcControl::deleteInstance</a> ()</td></tr>
<tr class="memdesc:a8e4f486a474c32ab3ebe07d64985c276"><td class="mdescLeft">&#160;</td><td class="mdescRight">删除系统PLC接口。系统级函数接口  <a href="plc__main__logic__interface_8h.html#a8e4f486a474c32ab3ebe07d64985c276">更多...</a><br /></td></tr>
<tr class="separator:a8e4f486a474c32ab3ebe07d64985c276"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af4003198c0e2f50c665c6edfa7a0228e"><td class="memItemLeft" align="right" valign="top">PlcMainLogicApi void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="plc__main__logic__interface_8h.html#af4003198c0e2f50c665c6edfa7a0228e">CPlcControl::initIO</a> ()</td></tr>
<tr class="memdesc:af4003198c0e2f50c665c6edfa7a0228e"><td class="mdescLeft">&#160;</td><td class="mdescRight">反同步DO到Y变量。系统级函数接口  <a href="plc__main__logic__interface_8h.html#af4003198c0e2f50c665c6edfa7a0228e">更多...</a><br /></td></tr>
<tr class="separator:af4003198c0e2f50c665c6edfa7a0228e"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8b4284aedf859489e4ca0e08ae763d61"><td class="memItemLeft" align="right" valign="top">PlcMainLogicApi void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="plc__main__logic__interface_8h.html#a8b4284aedf859489e4ca0e08ae763d61">CPlcControl::addCommandList</a> (CommandDetail *cmd)</td></tr>
<tr class="memdesc:a8b4284aedf859489e4ca0e08ae763d61"><td class="mdescLeft">&#160;</td><td class="mdescRight">添加外部命令进入PLC线程指令流，执行IO、系统级操作。用户级函数接口  <a href="plc__main__logic__interface_8h.html#a8b4284aedf859489e4ca0e08ae763d61">更多...</a><br /></td></tr>
<tr class="separator:a8b4284aedf859489e4ca0e08ae763d61"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7379a25c557a5da10c9e106579593d37"><td class="memItemLeft" align="right" valign="top">PlcMainLogicApi int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="plc__main__logic__interface_8h.html#a7379a25c557a5da10c9e106579593d37">CPlcControl::getRobotTeachMode</a> (int group=0)</td></tr>
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<tr class="memitem:a493983d19185f79916d94493cc9a8760"><td class="memItemLeft" align="right" valign="top">PlcMainLogicApi int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="plc__main__logic__interface_8h.html#a493983d19185f79916d94493cc9a8760">CPlcControl::getRobotTeachNcStatus</a> (int group=0)</td></tr>
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<tr class="separator:a493983d19185f79916d94493cc9a8760"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa40a6a9018e973fe32ed4a12fce24829"><td class="memItemLeft" align="right" valign="top">PlcMainLogicApi int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="plc__main__logic__interface_8h.html#aa40a6a9018e973fe32ed4a12fce24829">CPlcControl::getRobotReplayNcStatus</a> (int group=0)</td></tr>
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<tr class="separator:aa40a6a9018e973fe32ed4a12fce24829"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7363518caa1dba0f91f8201dd2cd5ad1"><td class="memItemLeft" align="right" valign="top">PlcMainLogicApi int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="plc__main__logic__interface_8h.html#a7363518caa1dba0f91f8201dd2cd5ad1">CPlcControl::getRobotServoStatus</a> (int group=0)</td></tr>
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<tr class="separator:a7363518caa1dba0f91f8201dd2cd5ad1"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6ad1a609832fe5d4120c3fc29045e28c"><td class="memItemLeft" align="right" valign="top">PlcMainLogicApi bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="plc__main__logic__interface_8h.html#a6ad1a609832fe5d4120c3fc29045e28c">CPlcControl::getRobotAlarmStatus</a> ()</td></tr>
<tr class="memdesc:a6ad1a609832fe5d4120c3fc29045e28c"><td class="mdescLeft">&#160;</td><td class="mdescRight">获取机器人报警状态。用户级函数接口  <a href="plc__main__logic__interface_8h.html#a6ad1a609832fe5d4120c3fc29045e28c">更多...</a><br /></td></tr>
<tr class="separator:a6ad1a609832fe5d4120c3fc29045e28c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a96ee28b6f94725e5ab7e54d64c61ce46"><td class="memItemLeft" align="right" valign="top">PlcMainLogicApi bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="plc__main__logic__interface_8h.html#a96ee28b6f94725e5ab7e54d64c61ce46">CPlcControl::getRobotHmiEstop</a> ()</td></tr>
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<tr class="separator:a96ee28b6f94725e5ab7e54d64c61ce46"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a97671df3e3341c1f933348de07cb83b9"><td class="memItemLeft" align="right" valign="top">PlcMainLogicApi bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="plc__main__logic__interface_8h.html#a97671df3e3341c1f933348de07cb83b9">CPlcControl::getRobotExternalEstop</a> ()</td></tr>
<tr class="memdesc:a97671df3e3341c1f933348de07cb83b9"><td class="mdescLeft">&#160;</td><td class="mdescRight">获取机器人外部急停状态。用户级函数接口  <a href="plc__main__logic__interface_8h.html#a97671df3e3341c1f933348de07cb83b9">更多...</a><br /></td></tr>
<tr class="separator:a97671df3e3341c1f933348de07cb83b9"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a592e8650e26322cbe6f134fd71f48d58"><td class="memItemLeft" align="right" valign="top">PlcMainLogicApi bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="plc__main__logic__interface_8h.html#a592e8650e26322cbe6f134fd71f48d58">CPlcControl::getRobotEstop</a> ()</td></tr>
<tr class="memdesc:a592e8650e26322cbe6f134fd71f48d58"><td class="mdescLeft">&#160;</td><td class="mdescRight">获取机器人急停状态。用户级函数接口  <a href="plc__main__logic__interface_8h.html#a592e8650e26322cbe6f134fd71f48d58">更多...</a><br /></td></tr>
<tr class="separator:a592e8650e26322cbe6f134fd71f48d58"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4aba11e4aa20d49744b1e57988ca3891"><td class="memItemLeft" align="right" valign="top">PlcMainLogicApi bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="plc__main__logic__interface_8h.html#a4aba11e4aa20d49744b1e57988ca3891">CPlcControl::getRobotCrashCheckStatus</a> ()</td></tr>
<tr class="memdesc:a4aba11e4aa20d49744b1e57988ca3891"><td class="mdescLeft">&#160;</td><td class="mdescRight">获取机器人碰撞检测状态。用户级函数接口  <a href="plc__main__logic__interface_8h.html#a4aba11e4aa20d49744b1e57988ca3891">更多...</a><br /></td></tr>
<tr class="separator:a4aba11e4aa20d49744b1e57988ca3891"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1c95e74faf904bbd475dceabb868ebdc"><td class="memItemLeft" align="right" valign="top">PlcMainLogicApi bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="plc__main__logic__interface_8h.html#a1c95e74faf904bbd475dceabb868ebdc">CPlcControl::getRobotSafeDoorStatus</a> ()</td></tr>
<tr class="memdesc:a1c95e74faf904bbd475dceabb868ebdc"><td class="mdescLeft">&#160;</td><td class="mdescRight">获取机器人工作站安全门状态。用户级函数接口  <a href="plc__main__logic__interface_8h.html#a1c95e74faf904bbd475dceabb868ebdc">更多...</a><br /></td></tr>
<tr class="separator:a1c95e74faf904bbd475dceabb868ebdc"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2dbd9a8970c094104e386b81cecb909d"><td class="memItemLeft" align="right" valign="top">PlcMainLogicApi bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="plc__main__logic__interface_8h.html#a2dbd9a8970c094104e386b81cecb909d">CPlcControl::getRobotHmiServoSwitch</a> ()</td></tr>
<tr class="memdesc:a2dbd9a8970c094104e386b81cecb909d"><td class="mdescLeft">&#160;</td><td class="mdescRight">获取机器人示教器三段开关状态。用户级函数接口  <a href="plc__main__logic__interface_8h.html#a2dbd9a8970c094104e386b81cecb909d">更多...</a><br /></td></tr>
<tr class="separator:a2dbd9a8970c094104e386b81cecb909d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a162dea8821d5c43cb5b68ce5566fcfd7"><td class="memItemLeft" align="right" valign="top">PlcMainLogicApi int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="plc__main__logic__interface_8h.html#a162dea8821d5c43cb5b68ce5566fcfd7">CPlcControl::setCurrentGroupNum</a> (int group=0)</td></tr>
<tr class="memdesc:a162dea8821d5c43cb5b68ce5566fcfd7"><td class="mdescLeft">&#160;</td><td class="mdescRight">设置当前的控制组号。用户级函数接口  <a href="plc__main__logic__interface_8h.html#a162dea8821d5c43cb5b68ce5566fcfd7">更多...</a><br /></td></tr>
<tr class="separator:a162dea8821d5c43cb5b68ce5566fcfd7"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:afcf46aaa8776670229d5b4d9ae0593d9"><td class="memItemLeft" align="right" valign="top">PlcMainLogicApi int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="plc__main__logic__interface_8h.html#afcf46aaa8776670229d5b4d9ae0593d9">CPlcControl::getCurrentGroupNum</a> ()</td></tr>
<tr class="memdesc:afcf46aaa8776670229d5b4d9ae0593d9"><td class="mdescLeft">&#160;</td><td class="mdescRight">获取当前的控制组号。用户级函数接口  <a href="plc__main__logic__interface_8h.html#afcf46aaa8776670229d5b4d9ae0593d9">更多...</a><br /></td></tr>
<tr class="separator:afcf46aaa8776670229d5b4d9ae0593d9"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table>
<a name="details" id="details"></a><h2 class="groupheader">详细描述</h2>
<div class="textblock"><p>系统PLC逻辑 </p>
<dl class="section author"><dt>作者</dt><dd>张 <a href="#" onclick="location.href='mai'+'lto:'+'zha'+'ng'+'.zb'+'@g'+'oog'+'ol'+'tec'+'h.'+'com'; return false;">zhang<span style="display: none;">.nosp@m.</span>.zb@<span style="display: none;">.nosp@m.</span>googo<span style="display: none;">.nosp@m.</span>ltec<span style="display: none;">.nosp@m.</span>h.com</a> </dd></dl>
<dl class="section version"><dt>版本</dt><dd>v1.0.0 </dd></dl>
<dl class="section date"><dt>日期</dt><dd>2020-10-12 </dd></dl>
</div><h2 class="groupheader">函数说明</h2>
<a id="a8b4284aedf859489e4ca0e08ae763d61"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a8b4284aedf859489e4ca0e08ae763d61">&#9670;&nbsp;</a></span>addCommandList()</h2>

<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">PlcMainLogicApi void CPlcControl::addCommandList </td>
          <td>(</td>
          <td class="paramtype">CommandDetail *&#160;</td>
          <td class="paramname"><em>cmd</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>添加外部命令进入PLC线程指令流，执行IO、系统级操作。用户级函数接口 </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">&lt;CommandDetail</td><td>*cmd&gt;指令参数结构体指针 </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">无</td><td></td></tr>
  </table>
  </dd>
</dl>
<dl class="section note"><dt>注解</dt><dd>指令流数据结构体的详细介绍，见《PLC指令流说明》 </dd></dl>

</div>
</div>
<a id="a8e4f486a474c32ab3ebe07d64985c276"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a8e4f486a474c32ab3ebe07d64985c276">&#9670;&nbsp;</a></span>deleteInstance()</h2>

<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">PlcMainLogicApi void CPlcControl::deleteInstance </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>删除系统PLC接口。系统级函数接口 </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">无</td><td></td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">无</td><td></td></tr>
  </table>
  </dd>
</dl>
<dl class="section note"><dt>注解</dt><dd>需系统软件退出前调用,用于释放系统PLC资源 <br  />
 </dd></dl>

</div>
</div>
<a id="afcf46aaa8776670229d5b4d9ae0593d9"></a>
<h2 class="memtitle"><span class="permalink"><a href="#afcf46aaa8776670229d5b4d9ae0593d9">&#9670;&nbsp;</a></span>getCurrentGroupNum()</h2>

<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">PlcMainLogicApi int CPlcControl::getCurrentGroupNum </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>获取当前的控制组号。用户级函数接口 </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">无</td><td></td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">无</td><td></td></tr>
  </table>
  </dd>
</dl>
<dl class="section note"><dt>注解</dt><dd><br  />
 </dd></dl>
<dl class="section return"><dt>返回</dt><dd>当前机器人组号 </dd></dl>

</div>
</div>
<a id="a6ad1a609832fe5d4120c3fc29045e28c"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a6ad1a609832fe5d4120c3fc29045e28c">&#9670;&nbsp;</a></span>getRobotAlarmStatus()</h2>

<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">PlcMainLogicApi bool CPlcControl::getRobotAlarmStatus </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>获取机器人报警状态。用户级函数接口 </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">无</td><td></td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">无</td><td></td></tr>
  </table>
  </dd>
</dl>
<dl class="section note"><dt>注解</dt><dd><br  />
 </dd></dl>
<dl class="section return"><dt>返回</dt><dd>&lt;0&gt;:正常 </dd>
<dd>
&lt;1&gt;:有报警 </dd></dl>

</div>
</div>
<a id="a4aba11e4aa20d49744b1e57988ca3891"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a4aba11e4aa20d49744b1e57988ca3891">&#9670;&nbsp;</a></span>getRobotCrashCheckStatus()</h2>

<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">PlcMainLogicApi bool CPlcControl::getRobotCrashCheckStatus </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>获取机器人碰撞检测状态。用户级函数接口 </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">无</td><td></td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">无</td><td></td></tr>
  </table>
  </dd>
</dl>
<dl class="section note"><dt>注解</dt><dd><br  />
 </dd></dl>
<dl class="section return"><dt>返回</dt><dd>&lt;0&gt;:异常 </dd>
<dd>
&lt;1&gt;:正常 </dd></dl>

</div>
</div>
<a id="a592e8650e26322cbe6f134fd71f48d58"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a592e8650e26322cbe6f134fd71f48d58">&#9670;&nbsp;</a></span>getRobotEstop()</h2>

<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">PlcMainLogicApi bool CPlcControl::getRobotEstop </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>获取机器人急停状态。用户级函数接口 </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">无</td><td></td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">无</td><td></td></tr>
  </table>
  </dd>
</dl>
<dl class="section note"><dt>注解</dt><dd><br  />
 </dd></dl>
<dl class="section return"><dt>返回</dt><dd>&lt;0&gt;:异常 </dd>
<dd>
&lt;1&gt;:正常 </dd></dl>

</div>
</div>
<a id="a97671df3e3341c1f933348de07cb83b9"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a97671df3e3341c1f933348de07cb83b9">&#9670;&nbsp;</a></span>getRobotExternalEstop()</h2>

<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">PlcMainLogicApi bool CPlcControl::getRobotExternalEstop </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>获取机器人外部急停状态。用户级函数接口 </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">无</td><td></td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">无</td><td></td></tr>
  </table>
  </dd>
</dl>
<dl class="section note"><dt>注解</dt><dd><br  />
 </dd></dl>
<dl class="section return"><dt>返回</dt><dd>&lt;0&gt;:异常 </dd>
<dd>
&lt;1&gt;:正常 </dd></dl>

</div>
</div>
<a id="a96ee28b6f94725e5ab7e54d64c61ce46"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a96ee28b6f94725e5ab7e54d64c61ce46">&#9670;&nbsp;</a></span>getRobotHmiEstop()</h2>

<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">PlcMainLogicApi bool CPlcControl::getRobotHmiEstop </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>获取机器人试教急停状态。用户级函数接口 </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">无</td><td></td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">无</td><td></td></tr>
  </table>
  </dd>
</dl>
<dl class="section note"><dt>注解</dt><dd><br  />
 </dd></dl>
<dl class="section return"><dt>返回</dt><dd>&lt;0&gt;:异常 </dd>
<dd>
&lt;1&gt;:正常 </dd></dl>

</div>
</div>
<a id="a2dbd9a8970c094104e386b81cecb909d"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a2dbd9a8970c094104e386b81cecb909d">&#9670;&nbsp;</a></span>getRobotHmiServoSwitch()</h2>

<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">PlcMainLogicApi bool CPlcControl::getRobotHmiServoSwitch </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>获取机器人示教器三段开关状态。用户级函数接口 </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">无</td><td></td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">无</td><td></td></tr>
  </table>
  </dd>
</dl>
<dl class="section note"><dt>注解</dt><dd><br  />
 </dd></dl>
<dl class="section return"><dt>返回</dt><dd>&lt;0&gt;:信号无 </dd>
<dd>
&lt;1&gt;:信号有 </dd></dl>

</div>
</div>
<a id="aa40a6a9018e973fe32ed4a12fce24829"></a>
<h2 class="memtitle"><span class="permalink"><a href="#aa40a6a9018e973fe32ed4a12fce24829">&#9670;&nbsp;</a></span>getRobotReplayNcStatus()</h2>

<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">PlcMainLogicApi int CPlcControl::getRobotReplayNcStatus </td>
          <td>(</td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>group</em> = <code>0</code></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>获取回放模式下，机器人NC状态。用户级函数接口 </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">&lt;int</td><td>group&gt;设置组通道号 </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">无</td><td></td></tr>
  </table>
  </dd>
</dl>
<dl class="section note"><dt>注解</dt><dd>组号下标 int group 写入范围: 0~1 <br  />
 </dd></dl>
<dl class="section return"><dt>返回</dt><dd>&lt;-1&gt;:参数错误 </dd>
<dd>
&lt;0&gt;:空闲 </dd>
<dd>
&lt;1&gt;:运行 </dd>
<dd>
&lt;2&gt;:暂停 </dd></dl>

</div>
</div>
<a id="a1c95e74faf904bbd475dceabb868ebdc"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a1c95e74faf904bbd475dceabb868ebdc">&#9670;&nbsp;</a></span>getRobotSafeDoorStatus()</h2>

<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">PlcMainLogicApi bool CPlcControl::getRobotSafeDoorStatus </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>获取机器人工作站安全门状态。用户级函数接口 </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">无</td><td></td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">无</td><td></td></tr>
  </table>
  </dd>
</dl>
<dl class="section note"><dt>注解</dt><dd><br  />
 </dd></dl>
<dl class="section return"><dt>返回</dt><dd>&lt;0&gt;:异常 </dd>
<dd>
&lt;1&gt;:正常 </dd></dl>

</div>
</div>
<a id="a7363518caa1dba0f91f8201dd2cd5ad1"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a7363518caa1dba0f91f8201dd2cd5ad1">&#9670;&nbsp;</a></span>getRobotServoStatus()</h2>

<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">PlcMainLogicApi int CPlcControl::getRobotServoStatus </td>
          <td>(</td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>group</em> = <code>0</code></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>获取机器人伺服状态。用户级函数接口 </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">&lt;int</td><td>group&gt;设置组通道号 </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">无</td><td></td></tr>
  </table>
  </dd>
</dl>
<dl class="section note"><dt>注解</dt><dd>组号下标 int group 写入范围: 0~1 <br  />
 </dd></dl>
<dl class="section return"><dt>返回</dt><dd>&lt;-1&gt;:参数错误 </dd>
<dd>
&lt;0&gt;:伺服关 </dd>
<dd>
&lt;1&gt;:伺服开 </dd></dl>

</div>
</div>
<a id="a7379a25c557a5da10c9e106579593d37"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a7379a25c557a5da10c9e106579593d37">&#9670;&nbsp;</a></span>getRobotTeachMode()</h2>

<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">PlcMainLogicApi int CPlcControl::getRobotTeachMode </td>
          <td>(</td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>group</em> = <code>0</code></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>获取机器人组的当前操作模式。用户级函数接口 </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">&lt;int</td><td>group&gt;设置组通道号 </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">无</td><td></td></tr>
  </table>
  </dd>
</dl>
<dl class="section note"><dt>注解</dt><dd>组号下标 int group 写入范围: 0~1 <br  />
 </dd></dl>
<dl class="section return"><dt>返回</dt><dd>&lt;-1&gt;:参数错误 </dd>
<dd>
&lt;1&gt;:试教模式 </dd>
<dd>
&lt;2&gt;:回放模式 </dd>
<dd>
&lt;3&gt;:远程模式 </dd></dl>

</div>
</div>
<a id="a493983d19185f79916d94493cc9a8760"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a493983d19185f79916d94493cc9a8760">&#9670;&nbsp;</a></span>getRobotTeachNcStatus()</h2>

<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">PlcMainLogicApi int CPlcControl::getRobotTeachNcStatus </td>
          <td>(</td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>group</em> = <code>0</code></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>获取试教模式下，机器人NC状态。用户级函数接口 </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">&lt;int</td><td>group&gt;设置组通道号 </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">无</td><td></td></tr>
  </table>
  </dd>
</dl>
<dl class="section note"><dt>注解</dt><dd>组号下标 int group 写入范围: 0~1 <br  />
 </dd></dl>
<dl class="section return"><dt>返回</dt><dd>&lt;-1&gt;:参数错误 </dd>
<dd>
&lt;0&gt;:空闲 </dd>
<dd>
&lt;1&gt;:前进检查 </dd>
<dd>
&lt;2&gt;:后退检查 </dd>
<dd>
&lt;3&gt;:运动到点 </dd>
<dd>
&lt;4&gt;:轴JOG运动 </dd></dl>

</div>
</div>
<a id="af4003198c0e2f50c665c6edfa7a0228e"></a>
<h2 class="memtitle"><span class="permalink"><a href="#af4003198c0e2f50c665c6edfa7a0228e">&#9670;&nbsp;</a></span>initIO()</h2>

<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">PlcMainLogicApi void CPlcControl::initIO </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>反同步DO到Y变量。系统级函数接口 </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">无</td><td></td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">无</td><td></td></tr>
  </table>
  </dd>
</dl>
<dl class="section note"><dt>注解</dt><dd>在进行系统PLC逻辑处理前调用 </dd></dl>

</div>
</div>
<a id="a2508c226e9efd400ce9b28e9a3bf0d9b"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a2508c226e9efd400ce9b28e9a3bf0d9b">&#9670;&nbsp;</a></span>PlcMainLogic()</h2>

<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">PlcMainLogicApi int CPlcControl::PlcMainLogic </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>系统PLC主逻辑循环执行接口。系统级函数接口 </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">无</td><td></td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">无</td><td></td></tr>
  </table>
  </dd>
</dl>
<dl class="section note"><dt>注解</dt><dd>需要周期调用,用于处理系统PLC相关的逻辑操作 </dd></dl>
<dl class="section return"><dt>返回</dt><dd>&lt;0&gt;:正常返回 </dd></dl>

</div>
</div>
<a id="a162dea8821d5c43cb5b68ce5566fcfd7"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a162dea8821d5c43cb5b68ce5566fcfd7">&#9670;&nbsp;</a></span>setCurrentGroupNum()</h2>

<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">PlcMainLogicApi int CPlcControl::setCurrentGroupNum </td>
          <td>(</td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>group</em> = <code>0</code></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>设置当前的控制组号。用户级函数接口 </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">&lt;int</td><td>group&gt;设置组通道号 &lt;-1&gt;:双组同时控制启用，当前的组号设置为0 &lt;0,1&gt;:双组同时控制关闭,当前组号由参数传入 </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">无</td><td></td></tr>
  </table>
  </dd>
</dl>
<dl class="section note"><dt>注解</dt><dd>组号下标 int group 写入范围: -1~1 <br  />
 </dd></dl>
<dl class="section return"><dt>返回</dt><dd>&lt;-1&gt;:参数错误 </dd>
<dd>
&lt;0&gt;:传入成功 </dd></dl>

</div>
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